/********************************************************************************
 * Copyright 2009 The Robotics Group, The Maersk Mc-Kinney Moller Institute,
 * Faculty of Engineering, University of Southern Denmark
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 ********************************************************************************/

#ifndef RWLIBS_CONTROL_CONTROLLER_HPP_
#define RWLIBS_CONTROL_CONTROLLER_HPP_

#include <rw/core/Ptr.hpp>

#include <string>

namespace rwlibs { namespace control {

    /**
     * @brief interface that defines functionality for control of devices and actuators
     */
    class Controller
    {
      public:
        //! smart poiner definition for controller
        typedef rw::core::Ptr< Controller > Ptr;

        //! @brief destructor
        virtual ~Controller (){};

        /**
         * @brief get the unique name of this controller
         * @return name of the controller.
         */
        const std::string& getName () const { return _name; }

        /**
         * @brief set the name of the controller
         * @param name [in] the name
         */
        void setName (const std::string& name) { _name = name; }

      protected:
        /**
         * @brief constructor
         * @param name [in] name of controller
         */
        Controller (const std::string& name) : _name (name) {}

      private:
        Controller (){};
        std::string _name;
    };

}}    // namespace rwlibs::control

#endif /*CONTROLLER_HPP_*/
